CN114147698A

CN114147698A - Intelligent mechanical arm with anti-jamming function

Info

Publication number: CN114147698A
Application number: CN202111647449.3A
Authority: CN
Inventors: 李佳佶
Original assignee: Nanjing Jinzhiju Technology Co ltd
Current assignee: Nanjing Jinzhiju Technology Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-03-08

Abstract

The invention discloses an intelligent mechanical arm with an anti-jamming function, which comprises a mounting plate, a lifting assembly, a first driving motor, an electric control cabinet, a control system, an arm assembly, a clamping assembly, a wiring box and a second driving motor, wherein the mounting plate is connected with the lifting assembly; by arranging the lifting assembly and the arm assembly, the first driving motor drives the lifting screw to rotate so as to drive the first nut seat to move to lift the arm assembly, the second driving motor drives the moving screw to rotate so as to drive the second nut seat to move to carry out the moving operation of the clamping assembly, the lifting and moving are mechanically transmitted in a screw and nut matching mode, the phenomenon of mechanical clamping is avoided, the failure rate of the mechanical arm is reduced, and the operation cost of the mechanical arm is reduced; through setting up the slider, when the second nut seat removed along removing the lead screw, the inside top of the upper end laminating arm case of slider removed, and the slider plays direction and spacing effect to second nut seat, improves arm assembly operation's stability.

Description

Intelligent mechanical arm with anti-jamming function

Technical Field

The invention relates to the technical field of intelligent mechanical arms, in particular to an intelligent mechanical arm with an anti-jamming function.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots at present, the body shadow of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military affairs, space exploration and the like, although the shapes of the mechanical arm are different, the mechanical arm has a common characteristic that the mechanical arm can receive an instruction and can be accurately positioned to a certain point on a three-dimensional (or two-dimensional) space for operation, the existing intelligent mechanical arm is easy to clamp when in use, the fault rate and the operation cost of the mechanical arm are increased, and the stable and efficient operation of the mechanical arm is not facilitated, so that an intelligent mechanical arm with an anti-clamping function is urgently needed to be developed to solve the problems, and the market popularization and application are facilitated.

Therefore, the intelligent mechanical arm with the anti-jamming function is provided.

Disclosure of Invention

The invention aims to provide an intelligent mechanical arm with an anti-jamming function, and a lifting component and an arm component which are arranged, wherein a first driving motor drives a lifting screw to rotate so as to drive a first nut seat to move for lifting operation of the arm component, a second driving motor drives a moving screw to rotate so as to drive a second nut seat to move for moving operation of a clamping component, the lifting and moving are mechanically transmitted in a mode of matching the screw and a nut, the phenomenon of jamming of a mechanical arm is avoided, the failure rate of the mechanical arm is reduced, the operation cost of the mechanical arm is reduced, the stable and efficient operation of the mechanical arm is facilitated, a fixed component is arranged, after the first driving motor drives the arm component to move up and down through the lifting component, a control system controls a fixed telescopic rod to electrify and operate, the fixed telescopic rod pushes a fixed plate and a rubber plate to pass through a through hole to abut against the surface of an installation column, the height of the arm component is fixed, the stability of arm component fixation is improved, the phenomenon that the arm component moves up and down in use is avoided, the stable operation of a mechanical arm is ensured, when a first driving motor drives the arm component to move up and down through a lifting component, a control system controls a fixed telescopic rod to pull a fixed plate and a rubber plate back into a fixed box, the lifting component is convenient to drive the arm component to move up and down, the clamping component and the arm component are arranged, when the manipulator is used, the control system controls a second driving motor to drive a movable lead screw to rotate, the second nut seat drives a clamping component to move, the clamping component is positioned above a workpiece to be clamped, the control system controls a lifting telescopic rod and the clamping telescopic rod to be powered on to operate, the lifting telescopic rod pushes an assembling plate and a clamping jaw component to move downwards, when the workpiece to be clamped is positioned on the inner side of the clamping jaw component, the clamping telescopic rod pulls the clamping plate to move inwards, the workpiece to be clamped is clamped through the clamping jaw assembly, the structure is simple, the operation is convenient and fast, the market popularization and application are convenient, the arranged sliding block and the second nut seat move along the moving lead screw, the upper end of the sliding block is attached to the upper part of the inside of the arm box to move, the sliding block plays a role in guiding and limiting the second nut seat, the operation stability of the arm component is improved, the arranged clamping jaw component detects the force applied by the clamping jaw plate to a workpiece to be clamped when in use, when the applied force reaches a set value, the control system controls the clamping telescopic rod to stop running, so that the force applied by the clamping jaw plate to the workpiece to be clamped is in an appropriate range, overlarge or undersize applied force is avoided, the phenomenon that the workpiece to be clamped is damaged or falls in the clamping process is prevented, the normal operation of the clamping jaw assembly is ensured, and the problem in the background art is solved.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent mechanical arm with an anti-jamming function comprises a mounting plate, a lifting assembly, a first driving motor, an electric control cabinet, a control system, an arm assembly, a clamping assembly, a wiring box and a second driving motor, wherein the lifting assembly is mounted in the middle above the mounting plate; the first driving motor is arranged on one side above the mounting plate; the electric control cabinet and the control system are arranged in the middle of the front side above the mounting plate; one end of the arm component is arranged in the lifting component; the upper end of the clamping assembly is arranged below the arm assembly; the two wiring boxes are arranged on the front sides of the lifting assembly and the arm assembly respectively; the second driving motor is arranged on one side, close to the lifting assembly, above the arm assembly;

the lifting assembly comprises a mounting column, a mounting groove, a first through groove, a second through groove, a lifting screw rod and a supporting rod, wherein the mounting column is mounted in the middle position above the mounting plate; the mounting groove is formed in the middle of the inner part of the mounting column; the first through groove is formed in the middle position of one side, close to the second driving motor, of the mounting column in a clamping mode; the second through groove is formed in the middle position of one side, away from the second driving motor, of the mounting column in a clamping mode; the upper end of the lifting screw rod is arranged above the inside of the mounting groove through a shaft sleeve; the upper end of the supporting rod is connected with the lower end of the lifting screw rod, and the lower end of the supporting rod is arranged below the inside of the mounting groove through a shaft sleeve.

Preferably, four corners of the mounting plate are provided with mounting holes; the first driving motor is respectively connected with the electric control cabinet and the control system through wires, and a belt pulley is arranged on an output shaft of the first driving motor; the electric control cabinet is connected with commercial power through a wire; the control system is connected with the electric control cabinet through a wire; the wiring box is used for arranging cables of the mechanical arm; the second driving motor is respectively connected with the electric control cabinet and the control system through wires, and a belt pulley is installed on an output shaft of the second driving motor.

Preferably, the mounting column is a square column; the first through groove is communicated with the inside of the mounting groove; the second through groove is communicated with the inside of the mounting groove; the lifting screw is aligned with the first through groove and the second through groove; the belt pulley is installed in the outside of bracing piece, and the belt pulley of bracing piece aligns with first driving motor's belt pulley, and the belt pulley of this bracing piece passes through the belt and links to each other with first driving motor's belt pulley.

Preferably, the arm assembly comprises a first nut seat, an arm box, a bearing seat, a movable lead screw, a third through groove, a second nut seat, a sliding block, a connecting rod and a fixing assembly, and the first nut seat is mounted on the outer side of the lifting lead screw; the fixing assembly is arranged on one side, away from the second driving motor, of the first nut seat; the arm box is arranged on one side of the first nut seat close to the second driving motor; the two bearing seats are arranged at two ends of the inner part of the arm box; the third through groove is formed below the arm box and is positioned between the bearing seats; the movable lead screw is arranged between the bearing blocks; one end of the connecting rod is arranged on the inner side of the bearing seat, and the other end of the connecting rod is connected with one end of the movable screw rod, which is close to the second driving motor; the second nut seat is arranged on the outer side of the movable screw rod, and the lower end of the second nut seat penetrates through the third through groove to the lower part of the arm box; the sliding block is arranged above the second nut seat.

Preferably, the first nut seat is connected with the lifting screw rod through threads, and the size of the first nut seat is matched with that of the mounting groove; the arm box is of a hollow structure, and a through groove is clamped at one side, close to the second driving motor, above the arm box; the depth of the third through groove is equal to the wall thickness of the arm box; the second nut seat is connected with the movable lead screw through threads; the upper end of the sliding block is attached to the upper part of the inside of the arm box; the outside of connecting rod is provided with the belt pulley, and the belt pulley of connecting rod aligns with the groove that runs through of arm case, and the belt pulley of this connecting rod aligns with second driving motor's belt pulley, and wherein the belt pulley of connecting rod passes through the belt and links to each other with second driving motor's belt pulley.

Preferably, the fixing assembly comprises a fixing box, a through hole, a fixing telescopic rod, a fixing plate and a rubber plate, the fixing box is installed on one side, away from the second driving motor, of the first nut seat, and the fixing box is of a hollow structure; the number of the through holes is two, and the through holes are formed in the upper end and the lower end of one side, close to the second driving motor, of the fixing box; the two fixed telescopic rods are arranged at the upper end and the lower end of one side, which is far away from the through hole, in the fixed box, and the fixed telescopic rods are respectively connected with the electric control cabinet and the control system through wires; the fixing plate is arranged at the tail end of the fixing telescopic rod and is aligned with the through hole, and the size of the fixing plate is smaller than that of the through hole; the rubber slab is installed in the one end that the fixed plate deviates from fixed telescopic link, and the size of rubber slab matches with the fixed plate size.

Preferably, the clamping assembly comprises a lifting telescopic rod, an assembling plate, a vertical plate, a clamping jaw assembly and a clamping telescopic rod, and the lifting telescopic rod is arranged below the second nut seat; the assembly plate is arranged below the lifting telescopic rod; the number of the vertical plates is two, and the vertical plates are arranged on two sides below the assembling plate; the number of the clamping plates is two, and the clamping plates are arranged on two sides of the vertical plate; the two clamping jaw assemblies are arranged below the clamping plate; the clamping telescopic rods are two, the upper ends of the clamping telescopic rods are connected with the lower end of the assembling plate, the lower ends of the clamping telescopic rods are connected with one side, close to the clamping plate, of the clamping plate, and the clamping telescopic rods are located between the vertical plates.

Preferably, the lifting telescopic rod is respectively connected with the electric control cabinet and the control system through wires; the vertical plates are arranged in parallel; the clamping plate is rotatably connected with the vertical plate through a shaft pin; the clamping telescopic rod is respectively connected with the electric control cabinet and the control system through wires, and the clamping telescopic rod is rotatably connected with the clamping plate through a shaft pin.

Preferably, the clamping jaw assembly comprises two clamping jaw plates, a rubber pad and a pressure sensor, and the clamping jaw plates are arranged below the clamping plate; the two rubber pads are arranged on one side of the clamping jaw plate close to each other; the pressure sensors are two and embedded at one side of the clamping jaw plate close to each other.

Preferably, the jaw plates are symmetrically arranged; the size of the rubber pad is matched with that of the clamping jaw; the pressure sensor is respectively connected with the electric control cabinet and the control system through wires, and one side, close to each other, of the pressure sensor is located inside the rubber pad.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, through arranging the lifting assembly and the arm assembly, the first driving motor drives the lifting screw to rotate so as to drive the first nut seat to move to carry out lifting operation of the arm assembly, the second driving motor drives the moving screw to rotate so as to drive the second nut seat to move to carry out moving operation of the clamping assembly, and the lifting and moving are mechanically transmitted in a screw and nut matching mode, so that the phenomenon of mechanical clamping is avoided, the fault rate of the mechanical arm is reduced, the operation cost of the mechanical arm is reduced, and stable and efficient operation of the mechanical arm is facilitated;

2. according to the invention, by arranging the fixing component, after the first driving motor drives the arm component to move up and down through the lifting component, the control system controls the fixing telescopic rod to be electrified and operated, the fixing telescopic rod pushes the fixing plate and the rubber plate to penetrate through the through hole to be abutted to the surface of the mounting column, so that the height of the arm component is fixed, the fixing stability of the arm component is improved, the phenomenon that the arm component moves up and down when in use is avoided, the stable operation of a mechanical arm is ensured, when the first driving motor drives the arm component to move up and down through the lifting component, the control system controls the fixing telescopic rod to pull the fixing plate and the rubber plate back into the fixing box, and the lifting component is convenient to drive the arm component to move up and down;

3. according to the clamping device, the clamping component and the arm component are arranged, when the clamping device is used, the control system controls the second driving motor to drive the movable lead screw to rotate, the second nut seat drives the clamping component to move, the clamping component is located above a workpiece to be clamped, the control system controls the lifting telescopic rod and the clamping telescopic rod to be powered on to operate, the lifting telescopic rod pushes the assembling plate and the clamping jaw component to move downwards, when the workpiece to be clamped is located on the inner side of the clamping jaw component, the clamping telescopic rod pulls the clamping plate to move inwards, and the workpiece to be clamped is clamped through the clamping jaw component, so that the clamping device is simple in structure, convenient and rapid to operate, and convenient to popularize and apply in the market;

4. according to the arm component, the sliding block is arranged, when the second nut seat moves along the moving lead screw, the upper end of the sliding block is attached to the upper part inside the arm box and moves, the sliding block plays a role in guiding and limiting the second nut seat, and the operation stability of the arm component is improved;

5. according to the clamping jaw assembly, the pressure sensor detects the force applied by the clamping jaw plate to the workpiece to be clamped when the clamping jaw assembly is used, and when the applied force reaches a set value, the control system controls the clamping telescopic rod to stop running, so that the force applied by the clamping jaw plate to the workpiece to be clamped is in an appropriate range, the phenomenon that the workpiece to be clamped is damaged or falls off in the clamping process is avoided, and the normal running of the clamping jaw assembly is ensured.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the lifting assembly of the present invention;

FIG. 3 is a schematic view of an arm assembly according to the present invention;

FIG. 4 is a schematic structural view of a fixing assembly of the present invention;

FIG. 5 is a schematic view of a clamping assembly of the present invention;

figure 6 is a schematic view of the jaw assembly of the present invention.

In the figure: 1. mounting a plate; 2. a lifting assembly; 21. mounting a column; 22. mounting grooves; 23. a first through groove; 24. a second through groove; 25. lifting the lead screw; 26. a support bar; 3. a first drive motor; 4. an electric control cabinet; 5. a control system; 6. an arm assembly; 61. a first nut seat; 62. an arm box; 63. a bearing seat; 64. moving the lead screw; 65. a third through groove; 66. a second nut seat; 67. a slider; 68. a connecting rod; 69. a fixing assembly; 691. a fixed box; 692. a through hole; 693. fixing the telescopic rod; 694. a fixing plate; 695. a rubber plate; 7. a clamping assembly; 71. lifting the telescopic rod; 72. assembling a plate; 73. a vertical plate; 74. a clamping plate; 75. a jaw assembly; 751. a jaw plate; 752. a rubber pad; 753. a pressure sensor; 76. clamping the telescopic rod; 8. a wiring box; 9. a second drive motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an intelligent mechanical arm with an anti-jamming function is shown in figures 1-2 and comprises a mounting plate 1, a lifting assembly 2, a first driving motor 3, an electric control cabinet 4, a control system 5, an arm assembly 6, a clamping assembly 7, a wiring box 8 and a second driving motor 9, wherein the lifting assembly 2 is mounted in the middle above the mounting plate 1; the first driving motor 3 is arranged on one side above the mounting plate 1; the electric control cabinet 4 and the control system 5 are arranged in the middle of the front side above the mounting plate 1; one end of the arm component 6 is arranged inside the lifting component 2; the upper end of the clamping component 7 is arranged below the arm component 6; two wiring boxes 8 are adopted, and the wiring boxes 8 are respectively arranged on the front sides of the lifting component 2 and the arm component 6; the second driving motor 9 is arranged on one side, close to the lifting assembly 2, above the arm assembly 6;

the lifting assembly 2 comprises a mounting column 21, a mounting groove 22, a first through groove 23, a second through groove 24, a lifting screw 25 and a support rod 26, wherein the mounting column 21 is mounted in the middle above the mounting plate 1; the mounting groove 22 is formed in the middle of the inside of the mounting column 21; the first through groove 23 is arranged in the middle of the mounting column 21 close to the second driving motor 9; the second through groove 24 is formed in the middle position of one side, away from the second driving motor 9, of the mounting column 21 in a clamping mode; the upper end of the lifting screw rod 25 is arranged above the inside of the mounting groove 22 through a shaft sleeve; the upper end of the support rod 26 is connected with the lower end of the lifting screw 25, and the lower end of the support rod 26 is mounted below the inside of the mounting groove 22 through a shaft sleeve.

Specifically, as shown in fig. 1-2, four corners of the mounting plate 1 are provided with mounting holes; the first driving motor 3 is respectively connected with the electric control cabinet 4 and the control system 5 through wires, and a belt pulley is arranged on an output shaft of the first driving motor 3; the electric control cabinet 4 is connected with commercial power through a wire; the control system 5 is connected with the electric control cabinet 4 through a wire; the wiring box 8 is used for arranging cables of the mechanical arm; the second driving motor 9 is respectively connected with the electric control cabinet 4 and the control system 5 through wires, and a belt pulley is mounted on an output shaft of the second driving motor 9; the mounting column 21 is a square column; the first through groove 23 is communicated with the inside of the mounting groove 22; the second through groove 24 is communicated with the inside of the mounting groove 22; the lifting screw 25 is aligned with the first and second through slots 23, 24; a belt pulley is installed on the outer side of the support rod 26, the belt pulley of the support rod 26 is aligned with the belt pulley of the first driving motor 3, and the belt pulley of the support rod 26 is connected with the belt pulley of the first driving motor 3 through a belt.

Through adopting above-mentioned technical scheme, first driving motor 3 drives promotion lead screw 25 and rotates, thereby drive first nut seat 61 and remove the lift operation that carries out arm assembly 6, second driving motor 9 drives removal lead screw 64 and rotates, thereby drive second nut seat 66 and remove the removal operation that carries out centre gripping subassembly 7, promote and remove and all adopt lead screw and nut complex mode to carry out mechanical transmission, the solid phenomenon of mechanical card is avoided appearing, robotic arm's fault rate is reduced, thereby robotic arm's running cost is reduced, be favorable to robotic arm's steady high-efficient operation.

Specifically, as shown in fig. 3, the arm assembly 6 includes a first nut seat 61, an arm box 62, a bearing seat 63, a moving screw 64, a third through groove 65, a second nut seat 66, a slider 67, a connecting rod 68, and a fixing assembly 69, wherein the first nut seat 61 is mounted on the outer side of the lifting screw 25; the fixed assembly 69 is arranged on one side of the first nut seat 61, which faces away from the second driving motor 9; the arm box 62 is arranged on one side of the first nut seat 61 close to the second driving motor 9; two bearing blocks 63 are adopted, and the bearing blocks 63 are arranged at two ends inside the arm box 62; the third through groove 65 is formed below the arm box 62, and the third through groove 65 is positioned between the bearing seats 63; the movable lead screw 64 is arranged between the bearing blocks 63; one end of the connecting rod 68 is installed inside the bearing seat 63, and the other end of the connecting rod 68 is connected with one end of the movable lead screw 64 close to the second driving motor 9; the second nut seat 66 is installed on the outer side of the movable lead screw 64, and the lower end of the second nut seat 66 penetrates below the arm box 62 through the third through groove 65; the slide block 67 is arranged above the second nut seat 66; the first nut seat 61 is connected with the lifting screw rod through threads, and the size of the first nut seat 61 is matched with that of the mounting groove 22; the arm box 62 is of a hollow structure, and a through groove is clamped at one side, close to the second driving motor 9, above the arm box 62; the depth of the third through groove 65 is equal to the wall thickness of the arm box 62; the second nut seat 66 is connected with the movable lead screw 64 through threads; the upper end of the slide block 67 is attached to the upper part of the inside of the arm box 62; a pulley is provided on the outer side of the connecting rod 68, and the pulley of the connecting rod 68 is aligned with the through groove of the arm box 62, and the pulley of the connecting rod 68 is aligned with the pulley of the second driving motor 9, wherein the pulley of the connecting rod 68 is connected with the pulley of the second driving motor 9 by a belt.

By adopting the technical scheme, when the second nut seat 66 moves along the movable lead screw 64, the upper end of the sliding block 67 is attached to the upper part of the inside of the arm box 62 to move, and the sliding block 67 plays a role in guiding and limiting the second nut seat 66, so that the running stability of the arm assembly 6 is improved.

Specifically, as shown in fig. 4, the fixing assembly 69 includes a fixing box 691, a through hole 692, a fixing telescopic rod 693, a fixing plate 694 and a rubber plate 695, the fixing box 691 is installed on a side of the first nut seat 61 facing away from the second driving motor 9, and the fixing box 691 is of a hollow structure; the number of the through holes 692 is two, and the through holes 692 are formed in the upper end and the lower end of the fixing box 691 near the second driving motor 9; two fixed telescopic rods 693 are adopted, the fixed telescopic rods 693 are arranged at the upper end and the lower end of one side, away from the through hole 692, in the fixed box 691, and the fixed telescopic rods 693 are respectively connected with the electric control cabinet 4 and the control system 5 through wires; the fixing plate 694 is installed at the tail end of the fixing telescopic rod 693, the fixing plate 694 is aligned with the through hole 692, and the size of the fixing plate 694 is smaller than that of the through hole 692; the rubber plate 695 is installed at one end of the fixing plate 694, which is far away from the fixing telescopic rod 693, and the size of the rubber plate 695 is matched with that of the fixing plate 694.

Through adopting above-mentioned technical scheme, first driving motor 3 drives arm assembly 6 through promoting subassembly 2 and reciprocates after the end, the fixed telescopic link 693 circular telegram operation of control system 5 control, fixed telescopic link 693 promotes fixed plate 694 and rubber slab 695 and passes through-hole 692 conflict on the surface of erection column 21, realize fixing the height of arm assembly 6, improve the fixed stability of arm assembly 6, arm assembly 6 appears reciprocating's phenomenon when avoiding using, guarantee robotic arm even running, when first driving motor 3 drives arm assembly 6 through promoting subassembly 2 and reciprocates, control system 5 control is fixed telescopic link 693 and is drawn back fixed plate 694 and rubber slab 695 in fixed case 691, it reciprocates to be convenient for promote subassembly 2 and drive arm assembly 6.

Specifically, as shown in fig. 5, the clamping assembly 7 includes a lifting telescopic rod 71, an assembling plate 72, a vertical plate 73, a clamping plate 74, a clamping jaw assembly 75 and a clamping telescopic rod 76, and the lifting telescopic rod 71 is installed below the second nut seat 66; the assembling plate 72 is arranged below the lifting telescopic rod 71; two vertical plates 73 are adopted, and the vertical plates 73 are arranged on two sides below the assembling plate 72; two clamping plates 74 are adopted, and the clamping plates 74 are arranged on two sides of the vertical plate 73; two clamping jaw assemblies 75 are adopted, and the clamping jaw assemblies 75 are arranged below the clamping plate 74; the number of the clamping telescopic rods 76 is two, the upper ends of the clamping telescopic rods 76 are connected with the lower ends of the assembling plates 72, the lower ends of the clamping telescopic rods 76 are connected with the side, close to the clamping plates 74, of each other, and the clamping telescopic rods 76 are located between the vertical plates 73; the lifting telescopic rod 71 is respectively connected with the electric control cabinet 4 and the control system 5 through wires; the vertical plates 73 are arranged in parallel; the clamping plate 74 is rotatably connected with the vertical plate 73 through a shaft pin; the clamping telescopic rod 76 is respectively connected with the electric control cabinet 4 and the control system 5 through wires, and the clamping telescopic rod 76 is rotatably connected with the clamping plate 74 through a shaft pin.

By adopting the above technical scheme, during the use, control system 5 controls second driving motor 9 and drives removal lead screw 64 to rotate, drive centre gripping subassembly 7 through second nut seat 66 and remove, make centre gripping subassembly 7 be located the top of treating the centre gripping work piece, control system 5 controls lift telescopic link 71 and centre gripping telescopic link 76 circular telegram operation, lift telescopic link 71 promotes equipment board 72 and clamping jaw subassembly 75 and moves down, when treating that the centre gripping work piece is located the inboard of clamping jaw subassembly 75, centre gripping telescopic link 76 pulling clamping plate 74 moves to the inboard, treat the centre gripping work piece through clamping jaw subassembly 75 and carry out the centre gripping, moreover, the steam generator is simple in structure, and the operation is convenient and fast, and the market promotion and the application of being convenient for.

Specifically, as shown in fig. 6, the jaw assembly 75 includes two jaw plates 751, two rubber pads 752 and a pressure sensor 753, wherein the jaw plates 751 are installed below the clamping plate 74; two rubber pads 752 are adopted, and the rubber pads 752 are arranged on the sides, close to each other, of the claw plates 751; two pressure sensors 753 are adopted, and the pressure sensors 753 are embedded on the sides, close to each other, of the jaw plates 751; the clamping jaw plates 751 are symmetrically arranged; the size of the rubber pad 752 is matched with that of the clamping jaw plate 751; the pressure sensor 753 is connected with the electric control cabinet 4 and the control system 5 through wires, and one side, close to each other, of the pressure sensor 753 is located inside the rubber pad 752.

By adopting the technical scheme, during use, the pressure sensor 753 detects the force applied by the clamping jaw plate 751 to the workpiece to be clamped, when the applied force reaches a set value, the control system 5 controls the clamping telescopic rod 76 to stop running, so that the force applied by the clamping jaw plate 751 to the workpiece to be clamped is in a proper range, excessive or insufficient force is avoided, the phenomenon that the workpiece to be clamped is damaged or falls in the clamping process is prevented, and the normal operation of the clamping jaw assembly 75 is ensured.

The working principle is as follows: when the device is used, the electric control cabinet 4 is connected with commercial power to supply power for a system, the control system 5 is electrified to operate to carry out system control, the first driving motor 3 drives the lifting screw rod 25 to rotate so as to drive the first nut seat 61 to move to carry out lifting operation of the arm component 6, the second driving motor 9 drives the moving screw rod 64 to rotate so as to drive the second nut seat 66 to move to carry out moving operation of the clamping component 7, the lifting and moving are mechanically driven in a screw rod and nut matching mode, the phenomenon of mechanical clamping is avoided, the fault rate of the mechanical arm is reduced, the operation cost of the mechanical arm is reduced, stable and efficient operation of the mechanical arm is facilitated, when the second nut seat 66 moves along the moving screw rod 64, the upper end of the sliding block 67 is attached to the upper part inside the arm box 62 to move, the sliding block 67 plays a role in guiding and limiting on the second nut seat 66, and improves the operation stability of the arm component 6, after the first driving motor 3 drives the arm assembly 6 to move up and down through the lifting assembly 2, the control system 5 controls the fixing telescopic rod 693 to operate in an electrified mode, the fixing telescopic rod 693 pushes the fixing plate 694 and the rubber plate 695 to penetrate through the through hole 692 to abut against the surface of the mounting column 21, so that the height of the arm assembly 6 is fixed, the stability of the arm assembly 6 is improved, the phenomenon that the arm assembly 6 moves up and down when in use is avoided, the stable operation of the mechanical arm is ensured, when the first driving motor 3 drives the arm assembly 6 to move up and down through the lifting assembly 2, the control system 5 controls the fixing telescopic rod 693 to pull the fixing plate 694 and the rubber plate 695 back into the fixing box 691, the lifting assembly 2 can drive the arm assembly 6 to move up and down, the control system 5 controls the second driving motor 9 to drive the moving screw 64 to rotate, and drives the clamping assembly 7 to move through the second nut seat 66, the clamping component 7 is positioned above the workpiece to be clamped, the control system 5 controls the lifting telescopic rod 71 and the clamping telescopic rod 76 to be electrified and operated, the lifting telescopic rod 71 pushes the assembling plate 72 and the clamping jaw component 75 to move downwards, when the workpiece to be clamped is positioned on the inner side of the clamping jaw assembly 75, the clamping telescopic rod 76 pulls the clamping plate 74 to move towards the inner side, the clamping jaw component 75 clamps a workpiece to be clamped, the structure is simple, the operation is convenient and fast, the market popularization and application are convenient, the pressure sensor 753 detects the force applied by the clamping jaw plate 751 to the workpiece to be clamped, when the force applied reaches a set value, the control system 5 controls the clamping telescopic rod 76 to stop operating, so that the force applied by the clamping jaw plate 751 to the workpiece to be clamped is in a proper range, the phenomenon that the workpiece to be clamped is damaged or falls off in the clamping process is avoided, and the normal operation of the clamping jaw assembly 75 is ensured.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligent robotic arm with anti-sticking function which characterized in that: the device comprises a mounting plate (1), a lifting assembly (2), a first driving motor (3), an electric control cabinet (4), a control system (5), an arm assembly (6), a clamping assembly (7), a wiring box (8) and a second driving motor (9), wherein the lifting assembly (2) is mounted in the middle position above the mounting plate (1); the first driving motor (3) is arranged on one side above the mounting plate (1); the electric control cabinet (4) and the control system (5) are arranged in the middle of the front side above the mounting plate (1); one end of the arm component (6) is arranged inside the lifting component (2); the upper end of the clamping component (7) is arranged below the arm component (6); the number of the wiring boxes (8) is two, and the wiring boxes (8) are respectively arranged on the front sides of the lifting assembly (2) and the arm assembly (6); the second driving motor (9) is arranged on one side, close to the lifting assembly (2), above the arm assembly (6);

the lifting assembly (2) comprises a mounting column (21), a mounting groove (22), a first through groove (23), a second through groove (24), a lifting screw rod (25) and a supporting rod (26), wherein the mounting column (21) is mounted in the middle above the mounting plate (1); the mounting groove (22) is formed in the middle of the inner part of the mounting column (21); the first through groove (23) is arranged in the middle of one side, close to the second driving motor (9), of the mounting column (21) in a clamping mode; the second through groove (24) is arranged in the middle position of one side, away from the second driving motor (9), of the mounting column (21) in a clamping mode; the upper end of the lifting screw rod (25) is arranged above the inside of the mounting groove (22) through a shaft sleeve; the upper end of the supporting rod (26) is connected with the lower end of the lifting screw rod (25), and the lower end of the supporting rod (26) is arranged below the inside of the mounting groove (22) through a shaft sleeve.

2. The smart robot arm with anti-jamming capability according to claim 1, wherein: mounting holes are formed in four corners of the mounting plate (1); the first driving motor (3) is respectively connected with the electric control cabinet (4) and the control system (5) through wires, and a belt pulley is installed on an output shaft of the first driving motor (3); the electric control cabinet (4) is connected with commercial power through a wire; the control system (5) is connected with the electric control cabinet (4) through a wire; the wiring box (8) is used for arranging cables of the mechanical arm; the second driving motor (9) is respectively connected with the electric control cabinet (4) and the control system (5) through wires, and a belt pulley is installed on an output shaft of the second driving motor (9).

3. The smart robot arm with anti-jamming capability according to claim 1, wherein: the mounting column (21) is in a square column shape; the first through groove (23) is communicated with the inside of the mounting groove (22); the second through groove (24) is communicated with the inside of the mounting groove (22); the lifting screw (25) is aligned with the first through slot (23) and the second through slot (24); the belt pulley is installed in the outside of bracing piece (26), and the belt pulley of bracing piece (26) aligns with the belt pulley of first driving motor (3), and the belt pulley of this bracing piece (26) passes through the belt and links to each other with the belt pulley of first driving motor (3).

4. The smart robot arm with anti-jamming capability according to claim 1, wherein: the arm assembly (6) comprises a first nut seat (61), an arm box (62), a bearing seat (63), a movable lead screw (64), a third through groove (65), a second nut seat (66), a sliding block (67), a connecting rod (68) and a fixing assembly (69), and the first nut seat (61) is installed on the outer side of the lifting lead screw (25); the fixing assembly (69) is arranged on one side, facing away from the second driving motor (9), of the first nut seat (61); the arm box (62) is arranged on one side of the first nut seat (61) close to the second driving motor (9); the number of the bearing blocks (63) is two, and the bearing blocks (63) are arranged at two ends of the interior of the arm box (62); the third through groove (65) is formed below the arm box (62), and the third through groove (65) is positioned between the bearing seats (63); the movable lead screw (64) is arranged between the bearing seats (63); one end of the connecting rod (68) is installed on the inner side of the bearing seat (63), and the other end of the connecting rod (68) is connected with one end, close to the second driving motor (9), of the movable screw rod (64); the second nut seat (66) is arranged on the outer side of the movable screw rod (64), and the lower end of the second nut seat (66) penetrates below the arm box (62) through a third through groove (65); the sliding block (67) is arranged above the second nut seat (66).

5. The smart robot arm with anti-jamming capability according to claim 4, wherein: the first nut seat (61) is connected with the lifting screw rod through threads, and the size of the first nut seat (61) is matched with that of the mounting groove (22); the arm box (62) is of a hollow structure, and a through groove is clamped at one side, close to the second driving motor (9), above the arm box (62); the depth of the third through groove (65) is equal to the wall thickness of the arm box (62); the second nut seat (66) is connected with the movable lead screw (64) through threads; the upper end of the sliding block (67) is attached to the upper part of the inside of the arm box (62); the outer side of the connecting rod (68) is provided with a belt pulley, the belt pulley of the connecting rod (68) is aligned with the through groove of the arm box (62), the belt pulley of the connecting rod (68) is aligned with the belt pulley of the second driving motor (9), and the belt pulley of the connecting rod (68) is connected with the belt pulley of the second driving motor (9) through a belt.

6. The smart robot arm with anti-jamming capability according to claim 4, wherein: the fixing assembly (69) comprises a fixing box (691), a through hole (692), a fixing telescopic rod (693), a fixing plate (694) and a rubber plate (695), the fixing box (691) is installed on one side, away from the second driving motor (9), of the first nut seat (61), and the fixing box (691) is of a hollow structure; the number of the through holes (692) is two, and the through holes (692) are formed in the upper end and the lower end of one side, close to the second driving motor (9), of the fixed box (691); the number of the fixed telescopic rods (693) is two, the fixed telescopic rods (693) are arranged at the upper end and the lower end of one side, away from the through hole (692), in the fixed box (691), and the fixed telescopic rods (693) are respectively connected with the electric control cabinet (4) and the control system (5) through wires; the fixing plate (694) is arranged at the tail end of the fixing telescopic rod (693), the fixing plate (694) is aligned with the through hole (692), and the size of the fixing plate (694) is smaller than that of the through hole (692); the rubber plate (695) is arranged at one end, away from the fixed telescopic rod (693), of the fixing plate (694), and the size of the rubber plate (695) is matched with that of the fixing plate (694).

7. The smart robot arm with anti-jamming capability according to claim 1, wherein: the clamping assembly (7) comprises a lifting telescopic rod (71), an assembling plate (72), a vertical plate (73), a clamping plate (74), a clamping jaw assembly (75) and a clamping telescopic rod (76), and the lifting telescopic rod (71) is installed below the second nut seat (66); the assembling plate (72) is arranged below the lifting telescopic rod (71); the number of the vertical plates (73) is two, and the vertical plates (73) are arranged on two sides below the assembling plate (72); the number of the clamping plates (74) is two, and the clamping plates (74) are arranged on two sides of the vertical plate (73); the number of the clamping jaw assemblies (75) is two, and the clamping jaw assemblies (75) are arranged below the clamping plate (74); the number of the clamping telescopic rods (76) is two, the upper ends of the clamping telescopic rods (76) are connected with the lower end of the assembling plate (72), the lower ends of the clamping telescopic rods (76) are connected with one side, close to the clamping plate (74), of the clamping plate (74), and the clamping telescopic rods (76) are located between the vertical plates (73).

8. The smart robot arm with anti-jamming capability according to claim 7, wherein: the lifting telescopic rod (71) is respectively connected with the electric control cabinet (4) and the control system (5) through wires; the vertical plates (73) are arranged in parallel; the clamping plate (74) is rotatably connected with the vertical plate (73) through a shaft pin; the clamping telescopic rod (76) is respectively connected with the electric control cabinet (4) and the control system (5) through wires, and the clamping telescopic rod (76) is rotatably connected with the clamping plate (74) through a shaft pin.

9. The smart robot arm with anti-jamming capability according to claim 7, wherein: the clamping jaw assembly (75) comprises two clamping jaw plates (751), rubber pads (752) and pressure sensors (753), wherein the clamping jaw plates (751) are arranged below the clamping plate (74); two rubber pads (752) are adopted, and the rubber pads (752) are arranged on the sides, close to each other, of the clamping jaw plates (751); the pressure sensors (753) are arranged in two, and the pressure sensors (753) are embedded on the side, close to each other, of the clamping claw plate (751).

10. The smart robot arm with anti-jamming capability according to claim 9, wherein: the clamping jaw plates (751) are symmetrically arranged; the rubber pad (752) is sized to match the size of the jaw plate (751); the pressure sensor (753) is connected with the electric control cabinet (4) and the control system (5) through wires respectively, and one side, close to each other, of the pressure sensor (753) is located inside the rubber pad (752).